Adaptive Event-Triggered Path Tracking Control With Proximate Appointed-Time Prescribed Performance for Autonomous Ground Vehicles
Yicai Liu, Xiangyu Wang, Zhentao Chen, Liang Li · IEEE Transactions on Industrial Electronics · 2024
Path tracking control is crucial for autonomous ground vehicles (AGVs), but it faces challenges from model nonlinearity, parameter variations, and external disturbances. This article proposes a novel model-free path tracking controller that achieves appointed-time performance and alleviates the communication burden. Initially, the path tracking model is abstracted as an unknown nonlinear system, bypassing the complexities of time-varying nonlinearity. A proximate appointed-time prescribed performance function (PPF) is then proposed, whose settling time can be preset arbitrarily using a nonpiecewise function with less conservatism. Subsequently, by utilizing an error scaling function to manage the entry capture problem, a dual-level constrained prescribed performance control (PPC) is developed to ensure proximate appointed-time stability of the preview error and its derivative regardless of initial constraints. Furthermore, an adaptive event-triggered mechanism, inspired by the encoder-decoder concept, transmits only two-bit signals aperiodically, substantially decreasing communication bandwidth requirements. Experimental results confirm the effectiveness, robustness, and efficiency of the proposed scheme.